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Towards Intelligent Structures: Active Control of Buckling
(1994-05-01)
The buckling of compressively-loaded members is one of the most important factors limiting the overall strength and stability of a structure. I have developed novel techniques for using active control to wiggle a ...
The Role of Fixation and Visual Attention in Object Recognition
(1995-07-21)
This research project is a study of the role of fixation and visual attention in object recognition. In this project, we build an active vision system which can recognize a target object in a cluttered scene efficiently ...
The Proceedings of the First PHANToM User's Group Workshop
(1996-12-01)
These proceedings summarize the results of the First PHANToM User's Group Workshop held September 27-30, 1996 MIT. The goal of the workshop was to bring together a group of active users of the PHANToM Haptic Interface ...
Series Elastic Actuators
(1995-09-07)
This thesis presents the design, construction, control and evaluation of a novel force controlled actuator. Traditional force controlled actuators are designed from the premise that "Stiffer is better''. This approach ...
Using Analogy to Acquire Commonsense Knowledge from Human Contributors
(2003-02-12)
The goal of the work reported here is to capture the commonsense knowledge of non-expert human contributors. Achieving this goal will enable more intelligent human-computer interfaces and pave the way for computers to ...
ADAM: A Decentralized Parallel Computer Architecture Featuring Fast Thread and Data Migration and a Uniform Hardware Abstraction
(2002-06-01)
The furious pace of Moore's Law is driving computer architecture into a realm where the the speed of light is the dominant factor in system latencies. The number of clock cycles to span a chip are increasing, while the ...
Achieving Real-Time Mode Estimation through Offline Compilation
(2002-10-22)
As exploration of our solar system and outerspace move into the future, spacecraft are being developed to venture on increasingly challenging missions with bold objectives. The spacecraft tasked with completing these ...
Surface Reflectance Recognition and Real-World Illumination Statistics
(2002-10-01)
Humans distinguish materials such as metal, plastic, and paper effortlessly at a glance. Traditional computer vision systems cannot solve this problem at all. Recognizing surface reflectance properties from a single ...
Understanding Subsystems in Biology through Dimensionality Reduction, Graph Partitioning and Analytical Modeling
(2003-02-05)
Biological systems exhibit rich and complex behavior through the orchestrated interplay of a large array of components. It is hypothesized that separable subsystems with some degree of functional autonomy exist; deciphering ...
Reinforcement Learning by Policy Search
(2003-02-14)
One objective of artificial intelligence is to model the behavior of an intelligent agent interacting with its environment. The environment's transformations can be modeled as a Markov chain, whose state is partially ...